CUAV V5+ 快速接线指南
WARNING
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
This quick start guide shows how to power the CUAV V5+ flight controller and connect its most important peripherals.
接线图概述
下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。 我们将在下面各节中介绍它们的细节。
| 主要接口 | 功能 |
|---|---|
| Power1 | 连接到电源模块（电流计）。 Power input with analog voltage and current detection. 请不要连接数字电源模块（比如UAVCAN电流计）！ |
| Power2 | 连接I2C总线的智能电池 |
| TF CARD | 用于日志存储的SD卡（出厂时SD已经装配好）。 |
| M1~M8 | PWM 输出接口。 可以使用它控制电机或舵机。 |
| A1~A6 | PWM 输出接口。 可以使用它控制电机或舵机。 |
| DSU7 | 用于 FMU 调试，读取调试信息。 |
| I2C1/I2C2 | 连接I2C总线设备；比如外部的罗盘。 |
| CAN1/CAN2 | 用于连接 UAVCAN 设备，比如 CAN GPS。 |
| TYPE-C(USB) | 用于连接计算机，建立飞行控制器和计算机之间的通信；比如刷写固件。 |
| SBUS OUT | 连接SBUS总线控制的相机和云台 |
| GPS&SAFETY | 连接到 Neo GPS，其中包括GPS、安全开关、蜂鸣器接口。 |
| TELEM1/TELEM2 | 连接到数传电台 |
| DSM/SBUS/RSSI | 包含DSM、SBUS、RSSI信号输入接口；DSM接口可以连接DSM卫星接收机，SBUS接口可以连接SBUS总线的遥控器接收机，RSSI连接RSSI信号强度回传模块。 |
INFO
For more interface information, please read V5+ Manual.
INFO
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: Flight Controller Orientation.
GPS + 罗盘 + 安全开关 + LED
The recommended GPS module is the Neo v2 GPS, which contains GPS, compass, safety switch, buzzer, LED status light.
INFO
Other GPS modules may not work (see this compatibility issue)).
The GPS/Compass module should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (Neo v2 GPS arrow is in the same direction as the flight control arrow). Connect to the flight control GPS interface using a cable.
INFO
If you use the NEO V2 PRO GNSS (CAN GPS), please use the cable to connect to the flight control CAN interface.
安全开关
The dedicated safety switch that comes with the V5+ is only required if you are not using the recommended Neo V2 GPS (which has an inbuilt safety switch).
If you are flying without the GPS you must attach the switch directly to the GPS1 port in order to be able to arm the vehicle and fly (if you use the old 6-pin GPS, please read the definition of the bottom interface to change the line).
蜂鸣器
If you do not use the recommended GPS, the buzzer may not work.
遥控器
A remote control (RC) radio system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes). 将 HW\u PM 模块的6针连接器连接到飞控的电源接口。
The figure below shows how you can access your remote receiver (please find the SBUS cable in the kit).
Spektrum 卫星接收器
The V5+ has a dedicated DSM cable. If using a Spektrum satellite receiver, this should be connected to the flight controller DSM/SBUS/RSSI interface.
电源
The V5+ kit includes the HV_PM module, which supports 2~14S LiPo batteries. Connect the 6pin connector of the HW_PM module to the flight control Power1 interface.
WARNING
The supplied power module is unfused. Power must be turned off while connecting peripherals.
INFO
The power module is not a power source for peripherals connected to the PWM outputs. If you're connecting servos/actuators you will need to separately power them using a BEC.
数传系统（可选）
A telemetry system allows you to communicate with, monitor, and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
The communication channel is via Telemetry Radios. The vehicle-based radio should be connected to either the TELEM1 or TELEM2 port (if connected to these ports, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually via USB).
SD 卡
An SD card is inserted in the factory (you do not need to do anything).
电机
Motors/servos are connected to the MAIN and AUX ports in the order specified for your vehicle in the Airframes Reference.
针脚定义
Download V5+ pinouts from here.